diff --git a/episode_0008/left.actions.eef_pose/data.csv b/episode_0008/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e10f0d03aa04b67c3428087511e6c797846647d7
--- /dev/null
+++ b/episode_0008/left.actions.eef_pose/data.csv
@@ -0,0 +1,469 @@
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diff --git a/episode_0008/left.actions.joint_position/data.csv b/episode_0008/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c8bae4273c51ea27d2be76a8481ee4407c25dd09
--- /dev/null
+++ b/episode_0008/left.actions.joint_position/data.csv
@@ -0,0 +1,469 @@
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diff --git a/episode_0008/left.observation.state.eef_pose/data.csv b/episode_0008/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d6eadba7cefc725ce0ddaf0b744af9ec4e2bfc3
--- /dev/null
+++ b/episode_0008/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0008/left.observation.state.joint_position/data.csv b/episode_0008/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..89960699cd9c343faf09f2ad73d8909ae60b5345
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diff --git a/episode_0008/left.observation.state/data.jsonl b/episode_0008/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3aa6228a5cc43dde46a5051d77742421f1b6509e
--- /dev/null
+++ b/episode_0008/left.observation.state/data.jsonl
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diff --git a/episode_0008/right.actions.eef_pose/data.csv b/episode_0008/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01772ef8389946f77c9e5553d875457399b21d7f
--- /dev/null
+++ b/episode_0008/right.actions.eef_pose/data.csv
@@ -0,0 +1,469 @@
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diff --git a/episode_0008/right.actions.joint_position/data.csv b/episode_0008/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9afc0e3b9da4a4979a1f53bee9b55a28c2cb6355
--- /dev/null
+++ b/episode_0008/right.actions.joint_position/data.csv
@@ -0,0 +1,469 @@
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diff --git a/episode_0008/right.observation.state.eef_pose/data.csv b/episode_0008/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61866220261c0fb78e639fb05f1f0e5b4945e767
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diff --git a/episode_0008/right.observation.state.joint_position/data.csv b/episode_0008/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f8da975861591b2d40a26446e3be123cbbf67af
--- /dev/null
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diff --git a/episode_0008/right.observation.state/data.jsonl b/episode_0008/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..68d8c5f29e17cb531b4644f115637e8abd3119cf
--- /dev/null
+++ b/episode_0008/right.observation.state/data.jsonl
@@ -0,0 +1,468 @@
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diff --git a/episode_0017/left.actions.joint_position/data.csv b/episode_0017/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..085013188cbe7a0562c1a9235084a23871ef0bce
--- /dev/null
+++ b/episode_0017/left.actions.joint_position/data.csv
@@ -0,0 +1,513 @@
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diff --git a/episode_0017/left.observation.state.joint_position/data.csv b/episode_0017/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6aed52c4aea427684dae72e3be98bc4a7b5fa22
--- /dev/null
+++ b/episode_0017/left.observation.state.joint_position/data.csv
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diff --git a/episode_0017/left.observation.state/data.jsonl b/episode_0017/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..636b9c973ec59fc621a687cf5e3f4038b52bf091
--- /dev/null
+++ b/episode_0017/left.observation.state/data.jsonl
@@ -0,0 +1,512 @@
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diff --git a/episode_0017/right.actions.eef_pose/data.csv b/episode_0017/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba3c2137e8fb583db18401b70660f5c40915df63
--- /dev/null
+++ b/episode_0017/right.actions.eef_pose/data.csv
@@ -0,0 +1,513 @@
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diff --git a/episode_0017/right.observation.state.joint_position/data.csv b/episode_0017/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c6becd17406c8b924e3a2b85eb83632447bd3b0f
--- /dev/null
+++ b/episode_0017/right.observation.state.joint_position/data.csv
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diff --git a/episode_0017/right.observation.state/data.jsonl b/episode_0017/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ee9d80133fa282510fa8e7c6d672312a3b0cfbb3
--- /dev/null
+++ b/episode_0017/right.observation.state/data.jsonl
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diff --git a/episode_0028/left.actions.eef_pose/data.csv b/episode_0028/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d806096825479459aae1f8f11377176d2722c590
--- /dev/null
+++ b/episode_0028/left.actions.eef_pose/data.csv
@@ -0,0 +1,444 @@
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diff --git a/episode_0028/left.actions.joint_position/data.csv b/episode_0028/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..59b02286589ba0b1bf2110abfc4e89f671e9b12a
--- /dev/null
+++ b/episode_0028/left.actions.joint_position/data.csv
@@ -0,0 +1,444 @@
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diff --git a/episode_0028/left.observation.state.eef_pose/data.csv b/episode_0028/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..977a347a2b016880816f54b40670452e93df4533
--- /dev/null
+++ b/episode_0028/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0028/left.observation.state.joint_position/data.csv b/episode_0028/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1f2304e085350486b967925305ad5356cef9a54
--- /dev/null
+++ b/episode_0028/left.observation.state.joint_position/data.csv
@@ -0,0 +1,444 @@
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diff --git a/episode_0028/left.observation.state/data.jsonl b/episode_0028/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9e28a2d8c4baa2880648d293df4df94d87c9ab42
--- /dev/null
+++ b/episode_0028/left.observation.state/data.jsonl
@@ -0,0 +1,443 @@
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diff --git a/episode_0028/right.actions.eef_pose/data.csv b/episode_0028/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7a31b6baf7246d6cb7e43b234a84536e0a160340
--- /dev/null
+++ b/episode_0028/right.actions.eef_pose/data.csv
@@ -0,0 +1,444 @@
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diff --git a/episode_0028/right.actions.joint_position/data.csv b/episode_0028/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..110e0939ef54633da4528fc2f3540b058adadd31
--- /dev/null
+++ b/episode_0028/right.actions.joint_position/data.csv
@@ -0,0 +1,444 @@
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diff --git a/episode_0028/right.observation.state.eef_pose/data.csv b/episode_0028/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..19fba2faab8eb9e4cae7d3e585fef50a7cf19c3f
--- /dev/null
+++ b/episode_0028/right.observation.state.eef_pose/data.csv
@@ -0,0 +1,444 @@
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diff --git a/episode_0028/right.observation.state.joint_position/data.csv b/episode_0028/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7ba012aeca2953519e325fe893e75e907902db0a
--- /dev/null
+++ b/episode_0028/right.observation.state.joint_position/data.csv
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diff --git a/episode_0028/right.observation.state/data.jsonl b/episode_0028/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..59f4f9d8aed1e76de2f44368919d17a58cdc10c7
--- /dev/null
+++ b/episode_0028/right.observation.state/data.jsonl
@@ -0,0 +1,443 @@
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